By Teller, E.; Metropolis, N.; Konopinski, E.; Woods, L.; U.S. Atomic Energy Commission, Technical Information Division, Oak Ridge, TN (US); U.S. Atomic Energy Commission.; United States. Dept. of Energy. Office of Scientific and Technical Information

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The complete model is then obtained by combining the components graphically by cutting and pasting. Constructs for including graphical annotations in Modelica make icons and composition diagrams portable. 2. On the right side of the figure, the mechanical part of the robot is given in form of a multibody system. It consists of six revolute joints, six bodies and the 1 Modelica ™ is a trade mark of the Modelica Design Group 24 2. 2. Graphical representation of the Manutec r3 robot using Modelica icons.

Zero-state detectability). Consider the system H with zero input, that is x = f(x, 0), y = h(x, 0), and let Z C IRn be its largest positively invariant set contained in {x E IRn I y = h(x, 0) = O}. The system H is zerostate detectable if x = 0 is asymptotically stable conditionally 1 to Z. The fundamental connection between passivity and Lyapunov stability is as follows. 2. (Passivity and Lyapunov stability). Let the system H be passive with a C 1 storage function 5 and h(x, u) be C 1 in u for all x.

Loops. Decomposition of physical systems rarely leads to such a model. A significant effort in terms of analysis and analytical transformations are often required to obtain a problem in this form. The work requires engineering skills and it is errorprone. 11. The structure ofthe block diagram does not reflect the topology of the physical system. 10, but the gearbox and the inertias of the motor and the load are no longer visible. They appear combined into a gain coefficient 1/(J1 + J m n 2 ). There is a fundamental limitation of block diagram modeling.

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